CN109282010B - Flexible engagement type gear device - Google Patents
Flexible engagement type gear device Download PDFInfo
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- CN109282010B CN109282010B CN201810666575.5A CN201810666575A CN109282010B CN 109282010 B CN109282010 B CN 109282010B CN 201810666575 A CN201810666575 A CN 201810666575A CN 109282010 B CN109282010 B CN 109282010B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Gears, Cams (AREA)
Abstract
The invention provides a flexible mesh gear device which can restrain the increase of cost and the increase of idle stroke. A flexible meshing gear device (100) is provided with: a vibrator (22 a); an external gear (4) which is deformed by the deflection of the vibration-receiving body (22 a); and a 1 st internal gear (6) and a 2 nd internal gear (8) that mesh with the external gear (4). The number of teeth of the 1 st internal gear (6) is different from that of the external gear (4), and the number of teeth of the 2 nd internal gear (8) is the same as that of the external gear (4). The 1 st internal gear (6) has a wear resistance higher than that of the 2 nd internal gear (8).
Description
The present application claims priority based on japanese patent application No. 2017-140862, applied on 7/20/2017. The entire contents of this Japanese application are incorporated by reference into this specification.
Technical Field
The present invention relates to a flexible engagement gear device.
Background
As a gear device which is small and lightweight and can obtain a high reduction ratio, a flexible mesh gear device is known. Conventionally, there has been proposed a so-called flat type flexible meshing gear device including: a vibration starting body; a cylindrical external gear disposed on an outer periphery of the vibration generator and having flexibility to be flexurally deformed by rotation of the vibration generator; a 1 st internal gear that meshes with the external gear and has rigidity; and a 2 nd internal gear that is provided side by side with the 1 st internal gear, that meshes with the external gear, and that has rigidity (for example, patent document 1).
Patent document 1: japanese patent laid-open publication No. 2011-112214
In the flex-mesh gear device described in patent document 1, each gear is worn away with use, which leads to an increase in backlash. If the wear resistance of each gear is improved, the increase in the backlash can be suppressed, but this leads to an increase in cost.
Disclosure of Invention
The present invention has been made in view of such circumstances, and an object thereof is to provide a flexible mesh gear device capable of suppressing an increase in lost motion while suppressing an increase in cost.
In order to solve the above problem, a flexible mesh gear device according to an embodiment of the present invention includes: a vibration starting body; an external gear which is deflected and deformed by the vibration generating body; and a 1 st internal gear and a 2 nd internal gear meshed with the external gear. In the flex-mesh type gear device, the number of teeth of the 1 st internal gear is different from the number of teeth of the external gear, the number of teeth of the 2 nd internal gear is the same as the number of teeth of the external gear, and the 1 st internal gear has a wear resistance characteristic higher than that of the 2 nd internal gear.
In addition, any combination of the above-described constituent elements, constituent elements and features of the present invention, and the like can be replaced with each other in the method, the apparatus, the system, and the like.
According to the present invention, it is possible to suppress an increase in cost and an increase in idle stroke.
Drawings
Fig. 1 is a sectional view showing a flexible engagement gear device according to an embodiment.
Fig. 2(a) is a view showing a cross section of the 1 st ring gear on a plane perpendicular to the rotation axis, and fig. 2(b) is a view showing a cross section of the 2 nd ring gear on a plane perpendicular to the rotation axis.
Fig. 3(a) is a sectional view taken along line a-a of fig. 2(a), and fig. 3(B) is a sectional view taken along line B-B of fig. 2 (B).
Fig. 4(a) is a diagram showing a gap between the 1 st internal gear and the 1 st external tooth portion of the external gear, and fig. 4(b) is a diagram showing a gap between the 2 nd internal gear and the 2 nd external tooth portion of the external gear.
In the figure: 4-external gear, 6-1 st internal gear, 8-2 nd internal gear, 22 a-vibrator, 100-flex-mesh gear device.
Detailed Description
In the following drawings, the same or equivalent constituent elements, components, and steps are denoted by the same reference numerals, and overlapping description thereof will be omitted as appropriate. In the drawings, the dimensions of components are shown enlarged or reduced as appropriate for ease of understanding. In the drawings, parts that are not essential to the description of the embodiments are omitted.
The outline of the flexible meshing gear device according to the embodiment is as follows.
The flexible mesh gear device according to the embodiment includes: a vibration starting body; an external gear which is deflected and deformed by the vibration generating body; and a 1 st internal gear and a 2 nd internal gear meshed with the external gear. The number of teeth of the 1 st internal gear is different from that of the external gear, and the number of teeth of the 2 nd internal gear is the same as that of the external gear.
Here, in the flexible mesh gear device, each gear is worn away with use, and a backlash (Lost Motion) increases. When the wear resistance of each gear is improved, wear of each gear can be suppressed, and increase in backlash can be suppressed, but the cost increases accordingly.
The present inventors have conducted extensive studies and, as a result, have found that: the 1 st internal gear having the same number of teeth as the external gear is more easily worn than the 2 nd internal gear having the same number of teeth as the external gear. Therefore, in the flex-mesh gear device according to the embodiment, the 1 st internal gear has wear resistance characteristics higher than those of the 2 nd internal gear. That is, the 1 st internal gear is configured to have high wear resistance. This can suppress wear of the 1 st internal gear, and can suppress an increase in backlash. The 2 nd internal gear is configured to have low wear resistance. Thus, for example, an increase in cost can be suppressed as compared with a case where the wear resistance characteristic of the 2 nd internal gear is set to be the same as the wear resistance characteristic of the 1 st internal gear. That is, according to the flexible mesh gear device of the present embodiment, it is possible to suppress an increase in cost and an increase in idle stroke. Hereinafter, the description will be specifically made.
Fig. 1 is a sectional view showing a flexible engagement gear device 100 according to an embodiment. The flexible engagement gear device 100 reduces the input rotation and outputs the reduced rotation. The flex-mesh gear device 100 includes a wave generator 2, an external gear 4, a 1 st internal gear 6, a 2 nd internal gear 8, a housing 10, a 1 st regulating member 12, a 2 nd regulating member 14, a main bearing 16, a 1 st bearing housing 18, and a 2 nd bearing housing 20. The mating gear device 100 is sealed with a lubricant (e.g., grease). The lubricant lubricates the meshing portion of the external gear 4 and the 1 st internal gear 6, the meshing portion of the external gear 4 and the 2 nd internal gear 8, and each bearing and the like.
The wave generator 2 includes a start-up body shaft 22, a plurality of 1 st rolling elements 24a, a plurality of 2 nd rolling elements 24b, a 1 st cage 26a, a 2 nd cage 26b, a 1 st outer ring member 28a, and a 2 nd outer ring member 28 b. The oscillation start shaft 22 is an input shaft, connected to a rotation drive source such as a motor, and rotates about the rotation axis R. The oscillator body shaft 22 is integrally formed with an oscillator body 22a having a substantially elliptical cross section perpendicular to the rotation axis R.
The plurality of 1 st rolling elements 24a each have a substantially cylindrical shape, and are provided with an interval in the circumferential direction with their axial directions oriented in a direction substantially parallel to the direction of the rotation axis R. The 1 st rolling element 24a is rotatably held by the 1 st cage 26a, and the 1 st rolling element 24a rolls on the outer peripheral surface 22b of the oscillator 22 a. The structure of the 2 nd rolling element 24b is the same as that of the 1 st rolling element 24 a. The plurality of 2 nd rolling elements 24b are rotatably held by a 2 nd cage 26b arranged in parallel with the 1 st cage 26a in the axial direction, and the 2 nd rolling elements 24b roll on the outer peripheral surface 22b of the oscillator 22 a. Hereinafter, the 1 st rolling element 24a and the 2 nd rolling element 24b are collectively referred to as "rolling elements 24". The 1 st retainer 26a and the 2 nd retainer 26b are collectively referred to as "retainers 26".
The 1 st outer ring member 28a surrounds the plurality of 1 st rolling elements 24 a. The 1 st outer ring member 28a has flexibility, and is deflected into an ellipsoidal shape by the oscillator 22a via the plurality of 1 st rolling elements 24 a. When the oscillator 22a (i.e., the oscillator body shaft 22) rotates, the 1 st outer ring member 28a continuously deforms by flexing according to the shape of the oscillator 22 a. The structure of the 2 nd outer ring member 28b is the same as that of the 1 st outer ring member 28 a. The 2 nd outer ring member 28b is formed separately from the 1 st outer ring member 28 a. The 2 nd outer ring member 28b may be formed integrally with the 1 st outer ring member 28 a. Hereinafter, the 1 st outer ring member 28a and the 2 nd outer ring member 28b are collectively referred to as "outer ring members 28".
The external gear 4 is a flexible annular member, and the oscillator 22a, the rolling elements 24, and the outer ring member 28 are fitted inside the external gear. Since the oscillator 22a, the rolling elements 24, and the outer ring member 28 are fitted into the external gear 4, the external gear 4 can be flexed into an ellipsoidal shape. When the oscillator 22a rotates, the external gear 4 continuously deforms by bending according to the shape of the oscillator 22 a. The external gear 4 includes a 1 st external tooth portion 4a located outside the 1 st outer ring member 28a, a 2 nd external tooth portion 4b located outside the 2 nd outer ring member 28b, and a base material 4 c. The 1 st external tooth portion 4a and the 2 nd external tooth portion 4b are formed on a single base material (i.e., the base material 4c), and the number of teeth is the same.
The 1 st internal gear 6 is a rigid annular member, and has a 1 st internal tooth portion 6a formed on the inner periphery thereof. The 1 st inner tooth portion 6a surrounds the 1 st outer tooth portion 4a of the external gear 4 that is flexed into an ellipsoidal shape, and meshes with the 1 st outer tooth portion 4a in predetermined regions (two regions) near the major axis of the oscillator 22 a. The number of teeth of the 1 st inner gear 6a is greater than the number of teeth of the 1 st outer gear 4 a.
The 2 nd internal gear 8 is a rigid cylindrical member, and has a 2 nd internal tooth portion 8a formed on the inner periphery thereof. The 2 nd internal tooth portion 8a surrounds the 2 nd external tooth portion 4b of the external gear 4 that is flexed into an ellipsoidal shape, and meshes with the 2 nd external tooth portion 4b in a predetermined region (two regions) near the major axis of the oscillator 22 a. The number of teeth of the 2 nd internal teeth 8a is the same as that of the 2 nd external teeth 4 b. Therefore, the 2 nd internal gear 8 rotates in synchronization with the rotation of the 2 nd external tooth portion 4b (even the external gear 4).
The 1 st internal gear 6 (particularly, the 1 st internal tooth portions 6a) has wear resistance characteristics higher than those of the 2 nd internal gear 8 (particularly, the 2 nd internal tooth portions 8 a). The structure for realizing this characteristic will be described later.
The 1 st regulating member 12 is a flat annular member, and is disposed between the external gear 4, the 1 st outer ring member 28a, and the 1 st retainer 26a, and the 1 st bearing housing 18. The 2 nd regulating member 14 is also a flat annular member, and is disposed between the external gear 4, the 2 nd outer ring member 28b, and the 2 nd retainer 26b, and the 2 nd bearing housing 20. The 1 st and 2 nd regulating members 12 and 14 regulate the movement of the external gear 4, the outer ring member 28, and the retainer 26 in the axial direction.
The casing 10 is a substantially cylindrical member, and surrounds the 2 nd internal gear 8. The 1 st internal gear 6 is integrated with the housing 10 by snap-fit. A main bearing 16 is arranged between the casing 10 and the 2 nd internal gear 8. In the present embodiment, the main bearing 16 is a cross roller bearing including a plurality of rollers (rolling elements) 46 provided at intervals in the circumferential direction. The plurality of rollers 46 roll on the rolling surface 8b of the 2 nd ring gear 8 and the rolling surface 10a of the housing 10. That is, the outer peripheral side of the 2 nd internal gear 8 functions as the inner ring of the main bearing 16, and the inner peripheral side of the housing 10 functions as the outer ring of the main bearing 16. The casing 10 supports the 2 nd internal gear 8 via the main bearing 16 to be rotatable with respect to the casing 10.
The 1 st bearing housing 18 is an annular member, and surrounds the start-up body shaft 22. Similarly, the 2 nd bearing housing 20 is also an annular member, and surrounds the start body shaft 22. The 1 st bearing housing 18 and the 2 nd bearing housing 20 are arranged so as to sandwich the external gear 4, the rolling elements 24, the cage 26, the outer ring member 28, the 1 st regulating member 12, and the 2 nd regulating member 14 in the axial direction. The 1 st bearing housing 18 is snap fitted and bolted to the 1 st internal gear 6. The 2 nd bearing housing 20 is snap fitted and bolted to the 2 nd inner gear 8. A bearing 30 is assembled on the inner periphery of the 1 st bearing housing 18, a bearing 32 is assembled on the inner periphery of the 2 nd bearing housing 20, and the 1 st bearing housing 18 and the 2 nd bearing housing 20 support the start body shaft 22 rotatably with respect to the 1 st bearing housing 18 and the 2 nd bearing housing 20 via the bearing 30 and the bearing 32.
An oil seal 40 is disposed between the starting body shaft 22 and the 1 st bearing housing 18, an O-ring 34 is disposed between the 1 st bearing housing 18 and the 1 st ring gear 6, an O-ring 36 is disposed between the 1 st ring gear 6 and the casing 10, an oil seal 42 is disposed between the casing 10 and the 2 nd ring gear 8, an O-ring 38 is disposed between the 2 nd ring gear 8 and the 2 nd bearing housing 20, and an oil seal 44 is disposed between the 2 nd bearing housing 20 and the starting body shaft 22. This can suppress leakage of the lubricant in the flexible meshing gear device 100.
Next, the operation of the above-structured flexible mesh gear device 100 will be described. Here, the case where the number of teeth of the 1 st external tooth 4a is 100, the number of teeth of the 2 nd external tooth 4b is 100, the number of teeth of the 1 st internal tooth 6a is 102, and the number of teeth of the 2 nd internal tooth 8a is 100 will be described as an example. Further, a case where the 2 nd internal gear 8 and the 2 nd bearing housing 20 are coupled to a driven member will be described as an example.
When the oscillator shaft 22 is rotated in a state where the 1 st outer tooth 4a meshes with the 1 st inner tooth 6a at two positions in the longitudinal direction of the elliptical shape, the meshing position of the 1 st outer tooth 4a and the 1 st inner tooth 6a is also moved in the circumferential direction. Since the number of teeth of the 1 st external teeth portion 4a is different from that of the 1 st internal teeth portion 6a, the 1 st external teeth portion 4a rotates relative to the 1 st internal teeth portion 6a at this time. Since the 1 st internal gear 6 and the 1 st bearing housing 18 are in a fixed state, the 1 st external gear 4a rotates by the difference in the number of teeth. That is, the rotation of the start body shaft 22 is greatly decelerated and output to the 1 st external tooth portion 4 a. The reduction ratio is as follows.
Reduction ratio (number of teeth of 1 st external tooth 4 a-number of teeth of 1 st internal tooth 6 a)/number of teeth of 1 st external tooth 4a
＝(100-102)/100
＝-1/50
Since the 2 nd external tooth 4b is formed integrally with the 1 st external tooth 4a, the 2 nd external tooth 4b rotates integrally with the 1 st external tooth 4 a. Since the number of teeth of the 2 nd external teeth portion 4b is the same as that of the 2 nd internal teeth portion 8a, relative rotation does not occur, and the 2 nd external teeth portion 4b rotates integrally with the 2 nd internal teeth portion 8 a. Therefore, the same rotation as the rotation of the 1 st outer teeth 4a is output to the 2 nd inner teeth 8 a. As a result, an output decelerating the rotation of the start body shaft 22 to-1/50 can be output from the 2 nd internal gear portion 8.
Next, the configurations of the external gear 4, the 1 st internal gear 6, and the 2 nd internal gear 8 will be described in more detail. Fig. 2(a) is a view showing a cross section of the 1 st ring gear 6 on a plane perpendicular to the rotation axis R, and fig. 2(b) is a view showing a cross section of the 2 nd ring gear 8 on a plane perpendicular to the rotation axis R. Fig. 3(a) is a sectional view taken along line a-a of fig. 2(a), and fig. 3(B) is a sectional view taken along line B-B of fig. 2 (B). Fig. 4(a) is a view showing a gap between the 1 st internal gear 6 and the 1 st external tooth portion 4a of the external gear 4, and fig. 4(b) is a view showing a gap between the 2 nd internal gear 8 and the 2 nd external tooth portion 4b of the external gear 4.
First, the definitions of several terms are explained.
"tooth height" means: the distance in the radial direction between the cross section of the tooth tip cylinder of the internal gear on a plane perpendicular to the rotation axis R (i.e., the tooth tip circle) and the cross section of the tooth root cylinder (i.e., the tooth root circle). Specifically, the tooth height h of the 1 st internal gear 61The method comprises the following steps: the addendum cylinder of the first internal gear 6 has a cross-section (i.e., addendum circle Ca) on a plane perpendicular to the rotation axis R of the 1 st internal gear 61) Section taken from root cylinder (i.e. root circle Cb)1) The distance in the radial direction therebetween (refer to fig. 2 (a)). And, the tooth height h of the 2 nd internal gear2The method comprises the following steps: the addendum cylinder of the 2 nd internal gear 8 has a cross-section (i.e., addendum circle Ca) on a plane perpendicular to the rotation axis R2) Section taken from root cylinder (i.e. root circle Cb)2) The distance in the radial direction therebetween (refer to fig. 2 (b)).
"tooth width" means: axial distance at the center between the tooth crest and the tooth root of the internal gear. Specifically, the tooth width w of the 1 st internal gear1The method comprises the following steps: tooth top Ta of the 1 st internal gear1And tooth root Tb1The axial distance at the center therebetween (refer to fig. 3 (a)). And, the tooth width w of the 2 nd internal gear2The method comprises the following steps: tooth top Ta of the 2 nd internal gear2And tooth root Tb2The axial distance at the center therebetween (refer to fig. 3 (b)).
"backlash" means: a radial clearance at the long-axis position between the internal gear and the external gear 4 (see fig. 4(a) and 4 (b)). Specifically, the backlash is determined by the following formula 1.
Meshing gap gi… … (equation 1) (i is 1 or 2) (i is an error in BBD of the ith inner gear — an error in long axis OBD of the ith gear part of the outer gear)/(ii) 2
Where BBD is the internal gear pitch (Between Ball Diameter), the major axis OBD is the maximum cross-Over bat Diameter (Over Pin Diameter) of the external gear 4 that is deflected and deformed by the vibrating element 22a, and the error is the difference obtained by subtracting the design value from the measured value. The design value of BBD and the design value of major axis OBD are the meshing gap giOBD and BBD at 0 mm.
Next, the structures of the external gear 4, the 1 st internal gear 6, and the 2 nd internal gear 8, which are configured to provide the 1 st internal gear 6 with wear resistance characteristics higher than those of the 2 nd internal gear 8, will be described. In addition, the five structures (1) to (5) will be described below, but these structures may be used alone or in any combination.
(1) The 1 st internal gear 6 and the 2 nd internal gear 8 are configured such that tooth surfaces S of the 1 st internal tooth portion 6a1Has a surface hardness higher than that of the tooth surface S of the 2 nd internal tooth portion 8a2The surface hardness of (2). This can be achieved by forming the 1 st internal gear 6 of a material harder than that of the 2 nd internal gear 8, by subjecting the 1 st internal gear 6 to a surface treatment that improves the surface hardness more than that of the 2 nd internal gear 8, or by using both of them. Preferably, the 1 st internal gear 6 and the 2 nd internal gear 8 are configured such that tooth surfaces S of the 1 st internal tooth portion 6a1Has a surface hardness higher than that of the tooth surface S of the 2 nd internal tooth portion 8a2Has a high surface hardness of 20[ HB ] Brinell hardness]The above. For example, the tooth surface S of the 1 st internal tooth portion 6a of the 1 st internal gear 61Has a Brinell hardness of HB400, and the tooth surfaces S of the 2 nd internal tooth 8a of the 2 nd internal gear 82The surface hardness of (2) was assumed to be a Brinell hardness HB 300. The brinell hardness was measured by a method based on JIS Z2243.
(2) The 1 st and 2 nd internal gears 6 and 8 are configured such that the 1 st inner tooth portions 6a have a surface-treated layer having higher wear resistance than the 2 nd inner tooth portions 8 a. For example, only the 1 st inner tooth portion 6a may have a surface treatment layer having high wear resistance. Also, for example, the 1 st inner tooth portion 6a may have a 1 st surface treatment layer, and the 2 nd inner tooth portion 8a may have a 2 nd surface treatment layer having wear resistance characteristics lower than those of the 1 st surface treatment layer. The surface-treated layer having high wear resistance may be a layer subjected to surface treatment for improving surface hardness, or may be a layer subjected to surface treatment for improving lubricity (for example, a layer subjected to surface treatment for forming fine irregularities (micro cavities) for improving lubricant retaining performance, in the examples of fig. 2(a) and 2(b), only the 1 st internal tooth portion 6a of the 1 st internal gear 6 has the surface-treated layer l subjected to shot peening, and the tooth surface S of the 1 st internal tooth portion 6a is subjected to shot peening by shot peening1The surface hardness of (2) is improved and the retention property of the lubricant is also improvedThe improvement results in improvement of the lubricity of the 1 st inner tooth portion 6 a.
(3) The 1 st internal gear 6 and the 2 nd internal gear 8 are configured such that the tooth width w of the 1 st internal tooth portion 6a1Is larger than the tooth width w of the 2 nd inner tooth part 8a2(refer to fig. 3(a) and 3 (b)). This reduces the surface pressure of the 1 st internal tooth portion 6a, i.e., improves the wear resistance of the 1 st internal gear 6. Preferably, the 1 st and 2 nd internal gears 6, 8 are configured such that the tooth width w of the 1 st internal tooth portion 6a1Width w of the 2 nd inner tooth 8a2The difference is greater than 0.2 mm.
(4) The external gear 4, the 1 st internal gear 6 and the 2 nd internal gear 8 are configured such that a meshing gap g between the 1 st internal tooth portion 6a and the 1 st external tooth portion 4a1Is larger than the meshing gap g between the 2 nd internal tooth part 8a and the 2 nd external tooth part 4b2(refer to fig. 4(a) and 4 (b)). At this time, since the amount of heat generated by the meshing of the 1 st inner tooth portion 6a and the 1 st outer tooth portion 4a is reduced, it is possible to suppress an increase in the temperature of the lubricant and further suppress a decrease in the viscosity of the base oil, and as a result, it is possible to reduce the wear of the 1 st inner tooth portion 6 a. That is, the wear resistance of the 1 st internal gear 6 becomes high. Preferably, the external gear 4, the 1 st internal gear 6, and the 2 nd internal gear 8 are configured to satisfy the following expression 2.
[ numerical formula 1]
Where m is the modulus of the outer gear 4. The modulus is a value obtained by dividing the pitch diameter by the number of teeth, and the pitch diameter is a value calculated from "pitch diameter ═ (addendum circle diameter + dedendum circle diameter)/2".
(5) The 1 st and 2 nd internal gears 6, 8 are configured such that the tooth height h of the 1 st internal tooth portion 6a1Is smaller than the tooth height h of the 2 nd inner tooth part 8a2(refer to fig. 2(a) and 2 (b)). At this time, in the 1 st inner tooth portion 6a, the tooth tips having a high sliding speed are relatively short, and therefore, the amount of heat generated by friction is reduced, so that the temperature rise of the lubricant can be suppressed, and further, the decrease in the base oil viscosity of the lubricant can be suppressed, and as a result, the wear of the 1 st inner tooth portion 6a can be reduced. That is, the wear resistance of the 1 st internal gear 6 becomes high. PreferablyThe 1 st and 2 nd internal gears 6 and 8 are configured such that the tooth height h of the 2 nd internal gear portion 8a2Tooth height h of the 1 st inner tooth 6a1The difference is greater than 0.01 mm.
According to the flex-mesh gear device 100 of the present embodiment, the 1 st internal gear 6 and the 2 nd internal gear 8 are configured such that the wear resistance of the 1 st internal tooth portion 6a is higher than the wear resistance of the 2 nd internal tooth portion 8 a. That is, the wear resistance of the 1 st internal gear 6, which is relatively easily worn, is set high. This can suppress wear of the 1 st ring gear 6, and can suppress an increase in backlash. The 2 nd internal gear 8, which is relatively hard to wear, has low wear resistance. This can suppress an increase in cost, for example, compared to a case where the wear resistance of the 2 nd internal gear 8 is set to be the same as that of the 1 st internal gear 6. That is, according to the flexible mesh gear device 100 of the present embodiment, it is possible to suppress an increase in cost and an increase in idle stroke.
The description has been given above of the flexible mesh gear device according to the embodiment. The embodiment is an example, and those skilled in the art will understand that various modifications may be made to the combination of these respective constituent elements or the respective processing procedures, and such modifications are also within the scope of the present invention.
Claims (6)
1. A flexible engagement gear device is provided with:
a vibration starting body;
an external gear which is deformed by the vibration generator; and
a 1 st internal gear and a 2 nd internal gear meshed with the external gear,
the number of teeth of the 1 st internal gear is different from that of the external gear, the number of teeth of the 2 nd internal gear is the same as that of the external gear,
the flexible mesh gear unit is characterized in that,
the 1 st internal gear has a wear resistance characteristic higher than that of the 2 nd internal gear,
the surface hardness of the tooth surface of the 1 st internal gear is higher than that of the tooth surface of the 2 nd internal gear.
2. A flexible engagement gear device is provided with:
a vibration starting body;
an external gear which is deformed by the vibration generator; and
a 1 st internal gear and a 2 nd internal gear meshed with the external gear,
the number of teeth of the 1 st internal gear is different from that of the external gear, the number of teeth of the 2 nd internal gear is the same as that of the external gear,
the flexible mesh gear unit is characterized in that,
the 1 st internal gear has a wear resistance characteristic higher than that of the 2 nd internal gear,
the 1 st internal gear has a surface-treated layer having higher wear resistance than the 2 nd internal gear.
3. A flexible engagement gear device is provided with:
a vibration starting body;
an external gear which is deformed by the vibration generator; and
a 1 st internal gear and a 2 nd internal gear meshed with the external gear,
the number of teeth of the 1 st internal gear is different from that of the external gear, the number of teeth of the 2 nd internal gear is the same as that of the external gear,
the flexible mesh gear unit is characterized in that,
the 1 st internal gear has a wear resistance characteristic higher than that of the 2 nd internal gear,
the meshing clearance between the 1 st internal gear and the external gear is larger than the meshing clearance between the 2 nd internal gear and the external gear.
4. A flexible engagement gear device is provided with:
a vibration starting body;
an external gear which is deformed by the vibration generator; and
a 1 st internal gear and a 2 nd internal gear meshed with the external gear,
the number of teeth of the 1 st internal gear is different from that of the external gear, the number of teeth of the 2 nd internal gear is the same as that of the external gear,
the flexible mesh gear unit is characterized in that,
the 1 st internal gear has a wear resistance characteristic higher than that of the 2 nd internal gear,
the tooth height of the 1 st internal gear is smaller than that of the 2 nd internal gear.
5. The flexure-meshing gear device according to any one of claims 1 to 4,
the tooth width of the 1 st internal gear is larger than that of the 2 nd internal gear.
6. The flexure-meshing gear device according to any one of claims 1 to 4,
the 2 nd internal gear is connected to a driven member, and the rotation after the speed reduction is output from the 2 nd internal gear.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-140862 | 2017-07-20 | ||
| JP2017140862A JP6871818B2 (en) | 2017-07-20 | 2017-07-20 | Flexible meshing gear device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109282010A CN109282010A (en) | 2019-01-29 |
| CN109282010B true CN109282010B (en) | 2021-11-05 |
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| KR (1) | KR102416790B1 (en) |
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| JP6871818B2 (en) | 2017-07-20 | 2021-05-12 | 住友重機械工業株式会社 | Flexible meshing gear device |
| JP7253928B2 (en) * | 2019-01-22 | 2023-04-07 | 住友重機械工業株式会社 | Driven device |
| JP7450340B2 (en) * | 2019-04-09 | 2024-03-15 | 住友重機械工業株式会社 | Gear device, manufacturing method of gear device |
| CN110242710B (en) * | 2019-06-05 | 2022-05-10 | 南通振康机械有限公司 | Integrated double-rigid-wheel harmonic speed reducer without inner and outer ring roller pin type flexible bearings |
| JP7414375B2 (en) * | 2019-10-28 | 2024-01-16 | 住友重機械工業株式会社 | Flexible mesh gear system |
| JP7370242B2 (en) * | 2019-12-20 | 2023-10-27 | 住友重機械工業株式会社 | Flexible mesh gear device and its manufacturing method |
| JP7454946B2 (en) * | 2020-01-08 | 2024-03-25 | 住友重機械工業株式会社 | Flexible mesh gear system |
| KR102579863B1 (en) * | 2021-12-13 | 2023-09-19 | 주식회사 뉴로메카 | Hybrid strain wave gear system and assembly thereof |
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| Publication number | Publication date |
|---|---|
| KR20190010429A (en) | 2019-01-30 |
| JP2019019944A (en) | 2019-02-07 |
| DE102018115627A1 (en) | 2019-01-24 |
| CN109282010A (en) | 2019-01-29 |
| DE102018115627B4 (en) | 2023-02-23 |
| JP6871818B2 (en) | 2021-05-12 |
| KR102416790B1 (en) | 2022-07-04 |
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